Terminal Stage Guidance Method for Underwater Moving Rendezvous and Docking Based on Monocular Vision

Lichuan Zhang, Yichen Li, Guang Pan, Yaobin Zhang, Saisai Li

科研成果: 书/报告/会议事项章节会议稿件同行评审

7 引用 (Scopus)

摘要

Underwater moving rendezvous and docking (RVD) technology is able to enhance work efficiency and endurance of autonomous underwater vehicle (AUV) without losing concealment and flexibility. In the terminal stage of RVD, visual navigation can achieve higher accuracy. This paper propose a method of terminal stage guidance which uses low-cost optical beacon and markers to locate the target accurately. Firstly, the markers used are introduced. Next, the image processing algorithm and target position estimation algorithm are proposed. Then the design idea of RVD task flow is introduced, and the task is realized with the help of digraph. Finally, a pool experiment is carried out to verify the feasibility and robustness of the proposed algorithm.

源语言英语
主期刊名OCEANS 2019 - Marseille, OCEANS Marseille 2019
出版商Institute of Electrical and Electronics Engineers Inc.
ISBN(电子版)9781728114507
DOI
出版状态已出版 - 6月 2019
活动2019 OCEANS - Marseille, OCEANS Marseille 2019 - Marseille, 法国
期限: 17 6月 201920 6月 2019

出版系列

姓名OCEANS 2019 - Marseille, OCEANS Marseille 2019
2019-June

会议

会议2019 OCEANS - Marseille, OCEANS Marseille 2019
国家/地区法国
Marseille
时期17/06/1920/06/19

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